For the Ubuntu 20.04 ROS 1 install, go to the ROS1 Noetic setup.

Tor the hardware status of the Turtles go here.

• Get Ubuntu 24.04 Desktop
• Prepare a bootable pen drive
• Hit F12 on boot to reach the drive selection

In the GRUB, hit 'e' on the first entry to edit boot parameters. Ubuntu boot needs special parameters for these e485 laptops. Edit the line starting with linux and add ivrs_ioapic=32@0000:00:14.0 spec_store_bypass_disable=prctl to it, so it says something like this:

linux /casper/vmlinuz --- quiet splash ivrs_ioapic=32@0000:00:14.0 spec_store_bypass_disable=prctl

This is required on every boot. Without these parameters, Ubuntu will be stuck on boot, showing only a cursor on black. To set them to default, first install Ubuntu as usual, reboot (enter boot params again).

Edit the GRUB config. Edit the grub boot file with root rights

sudo nano /etc/default/grub

Modify GRUB_CMDLINE_LINUX_DEFAULT, copy the parameters above and paste (Ctrl+Shift+V) so it says something like this:

GRUB_CMDLINE_LINUX_DEFAULT="quiet splash ivrs_ioapic[32]=00:14.0 spec_store_bypass_disable=prctl"

Finally, update your GRUB config to make these parameters permanent with.

sudo update-grub

Follow the Debian install guide for ROS 2 Jazzy Jalisco

Use the network 'tortugabot' to get internet and a local WiFi. Ask a colleague for the password. The WiFi is available nearby the robot labs.

When connecting the Hokuyo laser sensor via LAN, the connection must be configured manually. This way, the laptop can directly communicate with the LIDAR. Connect the Battery to the Tortugabot to give power to the Hokuyo LIDAR, then connect it via LAN to this laptop. Open Wired Settings and configure the profile. Set IPv4 to Manual and give it an IP and Submask. Without the Gateway the connection is dropped after a while.

Open up /etc/bluetooth/input.conf and set the parameter ClassicBondedOnly=false disable classic-bond-only. Otherwise pairing requires to affirm a code. Reboot the laptop to activate the change.

Now the controller can be paried with the Mini-USB cable.

1. Enable Bluetooth on the laptop and keep the Bluetooth settings open.
2. Connect the controller via Mini-USB with the laptop
3. On the controller, the four red light should now blink.
4. A popup will ask for permission to pair. Accept.
5. Unplug the controller
6. Press the PS button between Start and Select
7. LED 1 should now continuously glow on the controller
8. Bluetooth settings show the paired DS3 controller.

To test the connection, run the joy controller

ros2 run joy joy_node

and listen to the button feedback in another terminal.

ros2 topic echo /joy

Roboclaw complains that you don't have the permission to open 'ttyACM0'. The connection to Roboclaw is only permitted for users who are in the 'dialout' group. Add your user like this:

sudo adduser $USER dialout

Then reboot your PC. Check if the user is in the dialout group by calling groups in bash.

Set up new workspace as described in the ROS2 wiki, named tortugabot_ws https://docs.ros.org/en/jazzy/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html

mkdir -p ~/tortugabot_ws/src

Source the ROS2 build.

source /opt/ros/jazzy/setup.bash

Now set up the workspace with the roboclaw controller code

# go to the src subdirectory
cd ~/tortugabot_ws/src

# pull the roboclaw controller
git clone -b ros2 https://github.com/code-iai/roboclaw_ros.git

cd ..

# install dependencies
rosdep update
rosdep install -i --from-path src --rosdistro jazzy -y

# build the workspace
colcon build

# source the build
source install/local_setup.bash

Connect the turtle to battery, and USB from the roboclaw to laptop.

Execute the test script in the roboclaw controller https://github.com/code-iai/roboclaw_ros/tree/ros2/roboclaw_node/roboclaw_driver/roboclaw_driver_test.py

ros2 run roboclaw_node test_claw

The wheels should now move a bit.

On first startup it may be stuck. Restart the script.

Make sure the LED on the roboclaw hardware is lit, which indicates a connected battery. If not, change the battery and check the cables. When the roboclaw gets a command the LED quickly blinks with every new input.

If the ROS2 command for the test doesn't work, call the script directly.

python src/roboclaw_node/roboclaw_driver/roboclaw_driver_test.py

Make sure python is at version 3.X with python –version.

If the socket connection to the roboclaw chip can't be established, check out the 'Roboclaw connection permission section' above.

The Roboclaw Node is now ported to ROS2 Jazzy.

Launch the roboclaw node

ros2 launch roboclaw_node roboclaw_launch.py

Connect the DS3 controller and launch the joy teleop

ros2 launch roboclaw_node joy_teleop_launch.xml

Hold R1 to unlock movement. Left stick is forwards and backwards, right stick is for left and right. The wheels should move only when the sticks are pressed together with R1. When issues arise reboot the roboclaw.

Add this line into the .bashrc

export QT_QPA_PLATFORM=xcb rviz2

Check the odometry calculation in rviz

rviz2

In Global Options set Fixed Frame to odom. Add TF to see the broadcast between odom and base_footprint.

Also see the documentation of Minnie on the ROS2 port of Roboclaw.

Datasheets: Specification, and Communication

cd ros2_ws/src
git clone --recursive https://github.com/code-iai/urg_node2.git
rosdep update
rosdep install -i --from-paths urg_node2
cd ..
colcon build --symlink-install
source install/setup.bash
ros2 launch urg_node2 urg_node2.launch.py
ros2 run tf2_ros static_transform_publisher --frame-id base_footprint --child-frame-id laser

# Install ROS2


# ssh to turtle
sudo apt update
sudo apt upgrade
nano .bashrc

# into .bashrc
source /opt/ros/jazzy/setup.bash
export ROS_DOMAIN_ID=6 # for tortuga6

###

# Connect joy teleop bluetooth
sudo vim /etc/bluetooth/input.conf
# and set the parameter ClassicBondedOnly=false

# Add user to dialout
sudo adduser $USER dialout
sudo adduser roscourse dialout

#reboot

ros2 run joy joy_node
# output: Dual Shock Controller recognized

ros2 topic echo /joy

###

Install ROS tools, init rosdep and give sudo user arthur access to roscourse files.

# user: sudo
sudo apt install ros-dev-tools ros-jazzy-topic-tools
# allow sudo user arthur to see roscourse directories
sudo adduser arthur roscourse
sudo rosdep init

Set up workspace on turtle

# user: roscourse 
mkdir -p ~/tortugabot_ws/src
cd ~/tortugabot_ws/src

Get repositories

# user: roscourse
curl https://raw.githubusercontent.com/code-iai/tortugabot/refs/heads/ros2/tortugabot.repos > tortugabot.repos
vcs import --recursive < tortugabot.repos
rosdep update

Install dependencies

# user: sudo
rosdep install -i --from-path /home/roscourse/tortugabot_ws/src --rosdistro jazzy

Build the workspace and source the executables.

# user: roscourse
cd ~/tortugabot_ws
colcon build
source install/setup.bash
echo 'source /home/roscourse/tortugabot_ws/install/setup.bash' >> ~/.bashrc

Run the nodes in separate terminals

# roboclaw
ros2 launch roboclaw_node roboclaw_launch.py

# joy
ros2 launch roboclaw_node joy_teleop_launch.xml

# laser
ros2 launch urg_node2 urg_node2.launch.py

# transform base_footprint < laser
ros2 run tf2_ros static_transform_publisher --frame-id base_footprint --child-frame-id laser